Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: play various tones

This commit is contained in:
Jonathan Challinger 2014-10-23 11:47:00 -07:00 committed by Randy Mackay
parent 3dfcdde6be
commit f045c75bfe
3 changed files with 22 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/commands_logic.pde
View File

@ -278,6 +278,8 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
// exit_mission - function that is called once the mission completes
static void exit_mission()
{
// play a tone
AP_Notify::events.mission_complete = 1;
// if we are not on the ground switch to loiter or land
if(!ap.land_complete) {
// try to enter loiter but if that fails land
@ -632,6 +634,9 @@ static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
return false;
}
// play a tone
AP_Notify::events.waypoint_complete = 1;
// start timer if necessary
if(loiter_time == 0) {
loiter_time = millis();

7
ArduCopter/control_autotune.pde
View File

@ -653,6 +653,7 @@ static void autotune_attitude_control()
if (autotune_state.axis == AUTOTUNE_AXIS_ROLL) {
tune_roll_sp = tune_roll_sp * AUTOTUNE_SP_BACKOFF;
autotune_state.axis = AUTOTUNE_AXIS_PITCH;
AP_Notify::events.autotune_next_axis = 1;
}else{
tune_pitch_sp = tune_pitch_sp * AUTOTUNE_SP_BACKOFF;
tune_roll_sp = min(tune_roll_sp, tune_pitch_sp);
@ -662,6 +663,9 @@ static void autotune_attitude_control()
autotune_state.mode = AUTOTUNE_MODE_SUCCESS;
autotune_update_gcs(AUTOTUNE_MESSAGE_SUCCESS);
Log_Write_Event(DATA_AUTOTUNE_SUCCESS);
// play a tone
AP_Notify::events.autotune_complete = 1;
}
}
}
@ -685,6 +689,9 @@ static void autotune_failed()
attitude_control.limit_angle_to_rate_request(true);
// log failure
Log_Write_Event(DATA_AUTOTUNE_FAILED);
// play a tone
AP_Notify::events.autotune_failed = 1;
}
// autotune_backup_gains_and_initialise - store current gains as originals

13
ArduCopter/switches.pde
View File

@ -26,11 +26,12 @@ static void read_control_switch()
bool failsafe_disengaged = !failsafe.radio && failsafe.radio_counter == 0;
if (control_switch_changed && sufficient_time_elapsed && failsafe_disengaged) {
// set the debounced switch position
control_switch_state.debounced_switch_position = switch_position;
// set flight mode and simple mode setting
if (set_mode(flight_modes[switch_position])) {
// play a tone
if (control_switch_state.debounced_switch_position != -1) {
AP_Notify::events.user_mode_change = 1;
}
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_SUPERSIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
@ -41,6 +42,12 @@ static void read_control_switch()
set_simple_mode(BIT_IS_SET(g.simple_modes, switch_position));
}
}
// set the debounced switch position
control_switch_state.debounced_switch_position = switch_position;
}
else if (control_switch_state.last_switch_position != -1) {
AP_Notify::events.user_mode_change_failed = 1;
}
}